JPH03287348A - Profile control method - Google Patents
Profile control methodInfo
- Publication number
- JPH03287348A JPH03287348A JP2087869A JP8786990A JPH03287348A JP H03287348 A JPH03287348 A JP H03287348A JP 2087869 A JP2087869 A JP 2087869A JP 8786990 A JP8786990 A JP 8786990A JP H03287348 A JPH03287348 A JP H03287348A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- axis
- axes
- control method
- tracing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 16
- 239000002131 composite material Substances 0.000 claims description 8
- 239000000700 radioactive tracer Substances 0.000 claims description 7
- 230000035515 penetration Effects 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 15
- 238000010586 diagram Methods 0.000 description 4
- 241001422033 Thestylus Species 0.000 description 3
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
- B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
- B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
- B23Q35/12—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means
- B23Q35/121—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using mechanical sensing
- B23Q35/123—Means for transforming movement of the feeler or the like into feed movement of tool or work involving electrical means using mechanical sensing the feeler varying the impedance in a circuit
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50167—Adapting to copying
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Machine Tool Copy Controls (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は金型加工等のならい制御方法に関し、特に一部
の軸をＮＣ指令するならい制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a profiling control method for mold machining, etc., and particularly to a profiling control method in which some axes are given NC commands.
２軸をＮＣ指令で移動させ、残りの１軸でならい制御を
行うならい制御方法が使用されでいる。A tracing control method has been used in which two axes are moved by NC commands and the remaining one axis is subjected to tracing control.
例えば、Ｘ、Ｙ軸をＮＣ指令し、Ｚ軸をならい制御する
。すなわち、Ｘ、Ｙ軸をＮＣ指令で制御し、Ｚ軸を以下
の式に基づいて制御する。For example, the X and Y axes are given NC commands, and the Z axis is followed and controlled. That is, the X and Y axes are controlled by NC commands, and the Z axis is controlled based on the following equation.
Ｖｚ＝ （ε−ε、）ｘＧ
ここで、ＶｚはＺ軸のならい速度、εはＸ軸、Ｙ軸及び
Ｚ軸の合成変位量、ε。は基準変位量である。Vz= (ε-ε,)xG Here, Vz is the Z-axis tracing speed, ε is the combined displacement of the X-axis, Y-axis, and Z-axis, and ε. is the reference displacement amount.
このようなならい制御方法では、Ｘ１Ｙ平面上で任意の
箇所、通路をならうことができ、複雑な形状等を部分的
にならう場合に便利である。With such a tracing control method, it is possible to trace any passage at any location on the X1Y plane, and it is convenient when partially tracing a complex shape or the like.
しかし、１軸のみをならい、３軸について割り出し、分
配等の制御をおこなっていないので、精度も低く、なら
い速度も早くすることができなかった。However, since only one axis is traced and the three axes are not controlled for indexing, distribution, etc., the accuracy is low and the tracing speed cannot be increased.
特に、割り出し、分配を行わないので、トレーサヘッド
が進行方向に対して上りの斜面をならうときは、モデル
面に対して、くい込みがってになる。逆に、下りの斜面
をならうときは離れかってとなる。この結果、往復なら
いを行うと、上りと下りの切り換え箇所で段差が生じる
という問題もあった０
本発明はこのような点に鑑みてなされたものであり、Ｎ
Ｃ指令によって２軸を制御し、かつ、３軸によるならい
制御を行うならい制御方法を提供することを目的とする
。In particular, since no indexing or distribution is performed, when the tracer head follows an upward slope in the direction of travel, it will wedge into the model surface. On the other hand, when following a downhill slope, you should move further away. As a result, when reciprocating tracing is performed, there is a problem that a difference in level occurs at the switching point between up and down. The present invention was made in view of these points, and
It is an object of the present invention to provide a tracing control method that controls two axes using a C command and performs tracing control using three axes.
本発明では上記課題を解決するために、トレーサヘッド
でモデルをならいワークを加工するならい制御方法にお
いて、２軸をＮＣ指令速度及びＮＣ指令通路で制御し、
前記２軸を含む３軸をならい制御し、前記ＮＣ指令速度
と、前記２軸のならい制御の合成速度が一致するように
前記ＮＣ指令速度を制御することを特徴とするならい制
御方法が、提供される。In order to solve the above problems, the present invention uses a tracing control method in which a workpiece is machined by tracing a model using a tracer head, in which two axes are controlled by an NC command speed and an NC command path.
A tracing control method is provided, characterized in that three axes including the two axes are subjected to tracing control, and the NC commanded speed is controlled so that the NC commanded speed matches the composite speed of the tracing control of the two axes. be done.
２軸（例えばＸ、Ｙ軸〉は指令通路及び速度をＮＣ指令
する。また、同時に３軸はならい制御する。ここでＮＣ
指令速度と、ならい制御による２軸の合成速度が一致す
るように、ＮＣ指令速度を変化させる。２軸の通路はＮ
Ｃ指令通路となり、さらに、速度はならい制御速度とな
り、３軸のならい制御と等価な動きとなる。2 axes (e.g.
The NC command speed is changed so that the command speed matches the composite speed of the two axes obtained by profile control. The path of the two axes is N
This becomes the C command path, and furthermore, the speed becomes the profile control speed, resulting in movement equivalent to 3-axis profile control.
以下、本発明の一実施例を図面に基づいて説明する。 Hereinafter, one embodiment of the present invention will be described based on the drawings.
第１図は本発明のならい制御方法を実施するためのなら
い制御装置のブロック図である。ＮＣ指令ｌはＸ、Ｙ平
面上のＸ、Ｙ軸の移動指令と、送り速度指令Ｆを含む。FIG. 1 is a block diagram of a profile control device for implementing the profile control method of the present invention. The NC command 1 includes movement commands for the X and Y axes on the X and Y planes, and a feed rate command F.
移動指令は補間器２ａでオーバライド回路２ｂからの速
度Ｆｄでパルス分配される。速度Ｆｄについては後述す
る。速度指令Ｆはオーバライド回路２ｂに送られる。The movement command is distributed into pulses by the interpolator 2a at the speed Fd from the override circuit 2b. The speed Fd will be described later. Speed command F is sent to override circuit 2b.
分配パルスＸＰ、ＹＰはそれぞれ、加減速回路３ｘ、加
減速回路３ｙに送られ、加減速がかけられ、加算器４ｘ
、加算器４ｙに送られる。加算器４ｘ、４ｙでは分配パ
ルスＸＰ、ＹＰから、後述するパルスコーダ２３ｘ、２
３ｙからの位置帰還パルスＦｐｘ、ＦＰｙを減算して、
エラーレジスタ５ｘ、エラーレジスタ５ｙに送られる。The distributed pulses XP and YP are sent to an acceleration/deceleration circuit 3x and an acceleration/deceleration circuit 3y, respectively, where they are accelerated and decelerated, and added to an adder 4x.
, are sent to the adder 4y. The adders 4x and 4y output the distributed pulses XP and YP to pulse coders 23x and 2, which will be described later.
By subtracting the position feedback pulses Fpx and FPy from 3y,
It is sent to error register 5x and error register 5y.
エラーレジスタ５ｘとエラーレジスタ５ｙの出力Ｅｘ。Output Ex of error register 5x and error register 5y.
Ｅｙは分配回路１７に送られる。Ey is sent to the distribution circuit 17.
分配回路１７はエラーＥｘ、ＥｙにゲインＧを乗じて、
それぞれの速度指令Ｖｘ、Ｖｙを生成し、サーボアンプ
１８ｘ、１８ｙによって、それぞれ、Ｘ軸サーボモータ
２２ｘ、Ｙ軸サーボモータ２２ｙを駆動する。Ｘ軸サー
ボモータ２２ｘ、Ｙ軸サーボモータ２２ｙには、それぞ
れ、パルスコーダ２３ｘ、パルスコーダ２３ｙが結合さ
れており、フィードバックパルスＦＰｘ、ＦＰｙを加算
器４Ｘと加算器４ｙに帰還する。The distribution circuit 17 multiplies the errors Ex and Ey by the gain G,
Respective speed commands Vx and Vy are generated, and the servo amplifiers 18x and 18y drive the X-axis servo motor 22x and the Y-axis servo motor 22y, respectively. A pulse coder 23x and a pulse coder 23y are coupled to the X-axis servo motor 22x and the Y-axis servo motor 22y, respectively, and feed back the feedback pulses FPx and FPy to the adder 4X and the adder 4y.
一方、ならい工作機械に設けられているトレーサヘッド
２０は、その先端のスタイラス２１がモデルに接触する
ことにより生じるＸ軸、Ｙ軸及びＺ軸方向の各変位量ε
Ｘ、Ｅｙ及びε２を検出して、切り換え回路１１及び合
成回路１３に人力する。切り換え回路１１では、これら
の変位量の中から図示されていない操作盤を介して指令
されたならい平面の二軸の変位量ＥｃＳＥｓを選択して
割り出し回路１２に人力する。割り出し回路１２は変位
量ε１及びε２を用いて次式、
Ｅｃ−ε１／（ε１２＋ε２２）ｌ／２＝ｃ ｏ ５ｅ
Ｅｓ＝ε２／ （ε１’ ＋ε２” ）”＝ｓｉｎｅ
を演算して、割り出し信号ε１及びε２を求める。On the other hand, the tracer head 20 installed in the profiling machine tool has displacements ε in the X-axis, Y-axis, and Z-axis directions caused by the stylus 21 at its tip coming into contact with the model.
X, Ey and ε2 are detected and input to the switching circuit 11 and the combining circuit 13. The switching circuit 11 selects, from among these displacement amounts, the two-axis displacement EcSEs of the tracing plane commanded via an operation panel (not shown) and manually inputs it to the indexing circuit 12. The indexing circuit 12 uses the displacement amounts ε1 and ε2 to calculate the following equation: Ec-ε1/(ε12+ε22)l/2=co5e Es=ε2/(ε1'+ε2")"=sine, and generates the indexing signal ε1. and ε2 are determined.
また、合成回路１３では各変位量εＸ、εｙ及びε２か
ら合成変位量ε、（ε＝（εｘ２＋εｙ２＋εｚ２）ｌ
／２）を求めて演算器１４に人力する。演算器１４は合
成変位量εと予め設定された基準変位量εＯとの差分Δ
ε（Δε＝ε−εＯ）を演算して速度信号発生回路１５
及び１６に入力する。速度信号発生回路１５は差分Δε
に基づいてスタイラス変位方向に対して直角方向の送り
速度信号（接線方向速度信号）Ｖｔを発生する。また、
速度信号発生回路１６は差分Δεに比例させて、スタイ
ラス変位方向の送り速度信号（法線方向速度信号）Ｖｎ
を発生する。In addition, the synthesis circuit 13 calculates a composite displacement amount ε, (ε=(εx2+εy2+εz2)l) from each displacement amount εX, εy, and ε2.
/2) and manually input it to the arithmetic unit 14. The calculator 14 calculates the difference Δ between the composite displacement amount ε and a preset reference displacement amount εO.
The speed signal generation circuit 15 calculates ε (Δε=ε−εO).
and 16. The speed signal generation circuit 15 uses the difference Δε
Based on this, a feed speed signal (tangential speed signal) Vt in a direction perpendicular to the stylus displacement direction is generated. Also,
The speed signal generation circuit 16 generates a feed speed signal (normal direction speed signal) Vn in the stylus displacement direction in proportion to the difference Δε.
occurs.
分配回路１７は割り出し信号Ｅｃ、Ｅｓ、接線方向速度
信号Ｖｔ及び法線方向速度信号Ｖｎを用いて次式、
Ｖ１＝ＶｔＸｓ １ｎｅ−ＶｎｘｃｏｓｅＶ２＝−Ｖｔ
Ｘｃｏｓｅ−Ｖｎｘｓ １ｎ（Ｅ）を演算してならい平
面の二軸の速度成分Ｖ１及びＶｚを求め、これらをＸ軸
、Ｙ軸及び二軸の速度信号Ｖｘａ、Ｖｙａ及びＶｚを生
成する。二軸の速度指令はそのままサーボアンプ１８ｚ
に送られ、二軸サーボモータ２２ｚを駆動する。The distribution circuit 17 uses the index signals Ec and Es, the tangential velocity signal Vt, and the normal velocity signal Vn to form the following equation: V1=VtXs 1ne-VnxcoseV2=-Vt
Xcose-Vnxs 1n(E) is calculated to obtain biaxial velocity components V1 and Vz of the profiled plane, and these are used to generate X-axis, Y-axis, and biaxial velocity signals Vxa, Vya, and Vz. The speed command for two axes is directly sent to the servo amplifier 18z.
and drives the two-axis servo motor 22z.
一方、Ｘ軸及びＹ軸のならい速度Ｖｘａ、ＶｙａはＮＣ
指令速度を制御するために使用される。On the other hand, the tracing speeds Vxa and Vya of the X-axis and Y-axis are NC
Used to control commanded speed.
次にＮＣ指令速度の制御について説明する。第２図は分
配速度の計算を説明するためのブロック図である。ここ
では簡単のために、ＮＣ指令はＸ軸のみとし、ならいに
よる速度はＸ成分のみとする。Ｘ軸のエラーレジスタ５
ｘのエラーＥｘは分配回路１７に入力され、ゲインＧ（
１７ａ）を乗じて速度Ｖｘを得て、速度Ｖｘはサーボア
ンプ１８ｘに送られる。Next, control of the NC command speed will be explained. FIG. 2 is a block diagram for explaining calculation of distribution speed. Here, for the sake of simplicity, the NC command is assumed to be only for the X axis, and the velocity due to tracing is assumed to be for the X component only. X-axis error register 5
The error Ex of x is input to the distribution circuit 17, and the gain G(
17a) to obtain the speed Vx, and the speed Vx is sent to the servo amplifier 18x.
演算回路１７ｂではならい速度とＮＣ指令による速度Ｖ
ｘとの比、
ｎ＝Ｖｘａ／Ｖｘ
を求める。この比ｎをオーバライド回路２ｂに送り、オ
ーバライド回路２ｂでは指令速度Ｆから、実際の分配速
度Ｆｄ。The arithmetic circuit 17b calculates the tracing speed and the speed V according to the NC command.
Find the ratio with x, n=Vxa/Vx. This ratio n is sent to the override circuit 2b, and the override circuit 2b calculates the actual distribution speed Fd from the command speed F.
Ｆｄ＝Ｆ／ｎ を求め、この分配速度Ｆｄでパルス分配を行う。Fd=F/n is determined, and pulse distribution is performed at this distribution speed Fd.
これによって、ならい制御によるＸ軸のならい速度と、
ＮＣ指令によるＸ軸の速度が一致し、３軸のならい制御
を行う場合と同等の加工精度となら・い速度が得られる
。As a result, the X-axis tracing speed due to tracing control,
The X-axis speeds according to the NC commands match, and the same machining accuracy and tracing speed as when performing 3-axis tracing control can be obtained.
上記の説明ではＮＣ指令はＸ軸のみとし、ならい速度成
分もＸ軸のみとした。ＮＣ指令がＸ１Ｙ軸であり、なら
い速度成分がＸ１Ｙ軸のときは上記の式に、それぞれ、
Ｘ１Ｙ軸の合成速度及び、合成ならい速度を代入すれば
よい。In the above explanation, the NC command is only for the X-axis, and the tracing speed component is also for the X-axis only. When the NC command is the X1Y axis and the tracing speed component is the X1Y axis, the above formula is written as
It is sufficient to substitute the composite velocity of the X1Y axes and the composite tracing velocity.
また、急激なくい込み等が発生した場合は、Ｘ１Ｙ軸は
ＮＣ指令を無視して、逃げ動作等を行うようにすること
もできる。In addition, when sudden digging occurs, the X1Y axes can ignore the NC command and perform an escape operation or the like.
上記の説明ではＸ、Ｙ軸をＮＣ制御し、二軸をならい制
御としたが、これらの組み合わせは加工物に応じて変更
することができる。In the above explanation, the X and Y axes are NC controlled and the two axes are controlled by tracing, but the combination of these can be changed depending on the workpiece.
以上説明したように本発明では、２軸をＮＣ指令し、３
軸をならい制御し、ＮＣ指令速度と２軸のならい合成速
度を一致させるようにしたので、ならいの精度が向上し
、ならい速度も高くできる。As explained above, in the present invention, two axes are given NC commands, and three
Since the axes are traced and the NC command speed and the traced combined velocity of the two axes are made to match, the precision of the tracer is improved and the tracer speed can be increased.
第１図は本発明のならい制御方法を実施するためのなら
い制御装置のブロック図、
第２図は分配速度の計算を説明するためのブロック図で
ある。
ａ
ｂ
Ｘ
ｙ
・ＮＣ指令
補間器
゛ オーバライド回路
°゛°加減速回路
−加減速回路
−加算器
加算器
エラーレジスタ
エラーレジスタ
ー・−・−・分配回路
・ −サーボアンプ
一サーボアンプ
サーボアンプ
Ｘ軸サーボモータ
Ｙ軸サーボモータ
Ｚ軸サーボモータ
ーＸ軸パルスコーダ
Ｙ軸バルスコーダ
トレーサヘッド
°・スタイラス
ｘ
ｙ−
ｘ
ｙ
７
８ｘ
８ｙ
８ｚ
２ｘ
２２ｙ・・・−・
２２ｚ ・
３ｘ
３ｙ
０
２１−−・FIG. 1 is a block diagram of a profile control device for implementing the profile control method of the present invention, and FIG. 2 is a block diagram for explaining calculation of distribution speed. a b Motor Y-axis servo motor Z-axis servo motor X-axis pulse coder Y-axis pulse coder tracer head °・Stylus
Claims (5)
るならい制御方法において、 ２軸をＮＣ指令速度及びＮＣ指令通路で制御し、前記２
軸を含む３軸をならい制御し、 前記ＮＣ指令速度と、前記２軸のならい制御の合成速度
が一致するように前記ＮＣ指令速度を制御することを特
徴とするならい制御方法。(1) In a tracing control method in which a workpiece is machined by following a model with a tracer head, two axes are controlled by an NC command speed and an NC command path, and the two axes are
A tracing control method comprising: performing tracing control on three axes including the following axis, and controlling the NC commanded speed so that the NC commanded speed matches the composite speed of the tracing control of the two axes.
インを乗じて、合成することによって得るようにしたこ
とを特徴とする請求項１記載のならい制御方法。(2) The profile control method according to claim 1, wherein the composite speed is obtained by multiplying each error of the two axes by a gain and combining the results.
御することを特徴とする請求項１記載のならい制御方法
。(3) The tracing control method according to claim 1, wherein the NC command speed is controlled by override control.
らい制御による速度で逃げ動作を行うようにしたことを
特徴とする請求項１記載のならい制御方法。(4) The profile control method according to claim 1, wherein when the amount of penetration of the two axes suddenly changes, the two axes perform an escape operation at a speed controlled by profile control.
制御することを特徴とする請求項１記載のならい制御方
法。(5) The tracing control method according to claim 1, wherein the two axes are X and Y axes, and the other axis is the Z axis.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2087869A JPH03287348A (en) | 1990-04-02 | 1990-04-02 | Profile control method |
| EP19910906571 EP0480051A4 (en) | 1990-04-02 | 1991-04-01 | Profile control method |
| PCT/JP1991/000432 WO1991015335A1 (en) | 1990-04-02 | 1991-04-01 | Profile control method |
| US07/773,942 US5309364A (en) | 1990-04-02 | 1991-04-01 | Trace control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2087869A JPH03287348A (en) | 1990-04-02 | 1990-04-02 | Profile control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03287348A true JPH03287348A (en) | 1991-12-18 |
Family
ID=13926878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2087869A Pending JPH03287348A (en) | 1990-04-02 | 1990-04-02 | Profile control method |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US5309364A (en) |
| EP (1) | EP0480051A4 (en) |
| JP (1) | JPH03287348A (en) |
| WO (1) | WO1991015335A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4245012B4 (en) * | 1992-04-14 | 2004-09-23 | Carl Zeiss | Method for measuring shaped elements on a coordinate measuring machine |
| JPH06202724A (en) * | 1992-12-28 | 1994-07-22 | Fanuc Ltd | Numerical controller |
| JP3625901B2 (en) * | 1995-06-30 | 2005-03-02 | 三菱電機株式会社 | Method and apparatus for automatically optimizing servo control system |
| US5691909A (en) * | 1995-12-29 | 1997-11-25 | Western Atlas | Method of virtual machining to predict the accuracy of part to be made with machine tools |
| JP3087668B2 (en) * | 1996-05-01 | 2000-09-11 | 日本電気株式会社 | Liquid crystal display device, its manufacturing method and its driving method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62255051A (en) * | 1986-04-30 | 1987-11-06 | Mitsubishi Heavy Ind Ltd | Profile controller |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH596949A5 (en) * | 1975-09-30 | 1978-03-31 | Siemens Ag | |
| JPS6023938B2 (en) * | 1979-02-09 | 1985-06-10 | ファナック株式会社 | Any direction copying method |
| JPS6099549A (en) * | 1983-11-02 | 1985-06-03 | Fanuc Ltd | Copying in arbitrary direction |
| JPS60172442A (en) * | 1984-02-20 | 1985-09-05 | Fanuc Ltd | Machining apparatus for copying work and nc work |
| JPS61197148A (en) * | 1985-02-26 | 1986-09-01 | Fanuc Ltd | Arbitrary direction copying control device |
| JPS6224947A (en) * | 1985-07-22 | 1987-02-02 | Fanuc Ltd | Tracing control device |
| JP2786874B2 (en) * | 1989-03-10 | 1998-08-13 | 株式会社日立製作所 | Movable position control device |
-
1990
- 1990-04-02 JP JP2087869A patent/JPH03287348A/en active Pending
-
1991
- 1991-04-01 EP EP19910906571 patent/EP0480051A4/en not_active Withdrawn
- 1991-04-01 US US07/773,942 patent/US5309364A/en not_active Expired - Fee Related
- 1991-04-01 WO PCT/JP1991/000432 patent/WO1991015335A1/en not_active Application Discontinuation
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62255051A (en) * | 1986-04-30 | 1987-11-06 | Mitsubishi Heavy Ind Ltd | Profile controller |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0480051A1 (en) | 1992-04-15 |
| WO1991015335A1 (en) | 1991-10-17 |
| US5309364A (en) | 1994-05-03 |
| EP0480051A4 (en) | 1992-06-03 |
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